Pipe retriever apparatus, system, and method

ABSTRACT

A pipe retrieval machine has a frame defining a decoupling region and a travel axis and a transporting mechanism having a first gripping structure adjacent an infeed end of the machine and a second gripping structure adjacent an outfeed end of the machine. The decoupling region is disposed between the first and second gripping structures. A drive system is configured to move the first and second gripping structures at a steady state speed to direct the pipe along the travel axis. A decoupling device in the decoupling region has a decoupler that is automatically operable to engage a locking part of the coupling. The decoupling device is configured to selectively and automatically stop the pipe relative to the decoupling device, to disassemble at least one pipe section from the pipe, to move the detached pipe section from the machine, and to advance the remaining pipe for disassembly.

RELATED APPLICATION DATA

This patent is entitled to the benefit of and claims priority toco-pending U.S. Provisional Application Ser. No. 62/723,917 filed Aug.28, 2018 and entitled “System, Method and Apparatus for Pipe RetrievalMachine.” The entire contents of this prior filed application are herebyincorporated herein by reference.

BACKGROUND 1. Field of the Disclosure

The present disclosure is generally directed to pipe retrieval anddisassembly, and more particularly to a machine or apparatus, a system,and a method for retrieving assembled pipe and disassembling same.

2. Description of Related Art

Conventional agricultural irrigation equipment typically includes anassembled and extensive system of pipes, fittings (including couplingsand tees), sprinkler risers, and sprinkler heads. Examples of such anirrigation system are the Certa-Set™ and Certa-Lok™ agriculturalirrigation systems manufactured and sold by the assignee of the presentpatent. See, for example,https://www.northamericanpipe.com/Certa-SetPipe. These types ofirrigation systems are typically formed, in part, of assembled lateralpipes connected to a main line that is coupled to a water source. Thelateral pipes include many separate and discrete pipe sections. The pipesections are manually assembled by farm laborers to form the lengthylateral pipes. The assembled lateral pipes are manually assembled andlaid in place in the field or, in some instances, may be deployed usinga conventional tractor to pull the lateral pipes into the field as thepipe sections are assembled. The tractor may be used to pull oneassembled lateral pipe of the irrigation system into a single furrow ofan agricultural field that is disposed between rows of crops.

After a crop is harvested, the components of the assembled irrigationsystem, or at least the lengthy lateral pipes, are routinely broken downby hand, loaded onto trucks or trailers, and removed from the field. Thedisassembled pipe sections and components may then be relocated from onefield to another or stored for the next harvest season. The irrigationpipe system is typically broken down manually by farm laborers andloaded manually onto the trucks or trailers. This is a very tedious,labor intensive, and time-consuming process.

At least one attempt has been made to aid in automating the process ofretrieving the lengthy assembled lateral pipes from the field. AgIndustrial Manufacturing, Inc. (A.I.M.) has produced a machine (theA.I.M. machine) that utilizes rotational elements to withdraw or pullthe assembled lengths of lateral pipe from the field. A few farmlaborers are then required to manually disassemble the lateral pipe intoits discrete pipe sections at the A.I.M. machine. The A.I.M. machine ismovable by a tractor to different locations on a farm, as needed. TheA.I.M. machine is disclosed and described in U.S Pat. No. 7,765,685.Manual labor is required to separate the pipe sections at the pipecouplings while using the A.I.M. machine. However, the machineautomatically and controllably withdraws the assembled pipe from thefield, which reduces the time needed for disassembly and removal of thepipe system from the field.

Other limitations of the irrigation system impact the feasibility of theexisting A.I.M. machine. For example, the irrigation system typicallyincludes risers disposed along the assembled length of the lateral pipebetween the pipe sections. The risers are disposed at each of thefittings or couplings connection two lateral pipe sections and include asprinkler head at the top of each of the risers. These parts of theirrigation system may should maintain their general vertical orientationto avoid inhibiting the function of the A.I.M. machine and avoidbecoming damaged as the lateral pipe is retrieved and disassembled. Inaddition, the length of a single lateral span, i.e., a lateral pipesection of an entire assembled lateral pipe can be about 20 to 40 feetlong. An assembled lateral section of a typical irrigation system canhave an overall length of thousands of feet. These physicalcharacteristics of the irrigation system can further inhibit thefunction of such a retrieval machine.

SUMMARY

In one example, according to the teachings of the present disclosure, apipe retrieval system has a pipe having a leading pipe section, atrailing pipe section joined to the leading section at a joint, and aremaining pipe joined to the trailing pipe section by a next joint andhas a pipe retrieval machine. The machine includes a frame defining adecoupling region and a travel axis and a transporting mechanismsupported on the frame. The transporting mechanism has a first grippingstructure adjacent an infeed end of the machine and a second grippingstructure adjacent an outfeed end of the machine. The decoupling regionis disposed between the first and second gripping structures. A drivesystem is configured to move the first and second gripping structures ata steady state speed to direct the pipe along the travel axis. Adecoupling device is in the decoupling region and has a decoupler. Thedecoupler is operable to engage a locking part of the joint. Thedecoupling device is configured to selectively engage the pipe and slowportions of the pipe relative to the steady state speed. The firstgripping structure and the second gripping structure are independentlyand automatically controllable to change from the steady state speedaccording to a position of the joint relative to the decoupling device.When the pipe is slowed by the decoupling device with the joint adjacentthe decoupler, the second gripping structure is automatically reducedfrom the steady state speed to a second reduced speed and the firstgripping structure is automatically reduced from the steady state speedto a first reduced speed. While the pipe is slowed with the jointadjacent the decoupler, the decoupler is automatically actuated torelease the locking part. After the locking part is released, the secondgripping structure is increased to the steady state speed to withdrawthe leading pipe section from the joint. After the leading pipe sectionis withdrawn from the joint, the pipe is released by the decouplingdevice and the first gripping structure is increased to the steady statespeed to advance the pipe along the travel axis.

In one example, the first reduced speed can be faster than the secondreduced speed.

In one example, the joint may be a coupling between the leading andtrailing pipe sections. The coupling can include a riser extending upfrom the coupling. The decoupling device can act on the riser to stopthe coupling relative to the decoupling device.

In one example, the first and second gripping structures can be operableto aid in slowing the pipe.

In one example, the first and second gripping structures can be operableto slow the pipe.

In one example, the decoupling device can include a gate that acts uponthe joint to stop the pipe relative to the decoupling device.

In one example, a gate of the decoupling device can slow the pipe andcan include two movable barriers that obstruct an end of the joint tostop the pipe relative to the decoupling device.

In one example, the decoupler can include a lock actuator that ismovable into contact with the locking part to release the locking part.

In one example, the machine can include a microswitch upstream of thedecoupling region. When the microswitch is triggered, a time delay canoccur before the decoupling device is automatically operated to slow thepipe with the joint adjacent the decoupler.

In one example, the joint can be a coupling disposed between the leadingand trailing pipe sections and can include a riser extending up from thecoupling. The microswitch can be triggered by the riser passing themicroswitch.

In one example according to the teachings of the present disclosure, apipe retrieval machine includes a frame defining a decoupling region anda travel axis and a transporting mechanism supported on the frame. Thetransporting mechanism has a first gripping structure adjacent an infeedend of the machine and a second gripping structure adjacent an outfeedend of the machine. The decoupling region is disposed between the firstand second gripping structures. A drive system is configured to move thefirst and second gripping structures at a steady state speed to direct apipe along the travel axis. A decoupling device is in the decouplingregion and has a decoupler. The decoupler is automatically operable toengage a locking part of a pipe joint. The decoupling device isconfigured to selectively and automatically slow the pipe relative tothe steady state speed. The pipe retrieval machine is configured, byselectively and independently reducing the first and second grippingstructures to respective first and second speeds that are less than thesteady state speed, to detach at least one pipe section from the pipe,to move the detached pipe section from the machine, and to advance theremaining pipe for disassembly.

In one example, the machine can further include an alignment featurethat can be configured to vertically align a riser on a joint of a pipepassing through the pipe retrieval machine.

In one example, the machine can include a pipe alignment feature. Thealignment feature can include a microswitch triggered by a joint of apipe passing through the alignment feature and can be configured totrigger a delay prior to the decoupling device being automaticallyoperated.

In one example, the machine can further include a user interfaceconfigured to receive inputs from a user and provide outputs to the userand a control system operable to control the drive system to move thetransporting mechanism. The control system can be accessible via theuser interface.

In one example, the first gripping structure can include at least onegroup of wheels and the second gripping structure can include at leastone group of wheels. The groups of wheels can be rotatable by the drivesystem.

In one example, the first gripping structure can include at least onetread system and the second gripping structure can include at least onetread system. The tread systems can be movable by the drive system.

In one example according to the teachings or the present disclosure, amethod of retrieving an assembled pipe and disassembling the assembledpipe includes the step of deploying a pipe retrieval machine adjacentone end of the assembled pipe. The pipe retrieval machine has a frame, atransporting mechanism with a first gripping structure adjacent aninfeed end of the machine and a second gripping structure adjacent anoutfeed end of the machine, a drive system configured to move the firstand second gripping structures at a steady state speed to direct theassembled pipe along the travel axis, and a decoupling device having adecoupler. The method also includes the steps of operating the drivesystem to move the first and second gripping structures in a directioninto the pipe retrieval machine and feeding the one end of the assembledpipe into the first gripping structure. In the method, the drive systemautomatically moves the first and second gripping structures at a steadystate speed to direct the assembled pipe along the travel axis. Thedecoupling device slows the assembled pipe with a joint of the assembledpipe adjacent the decoupler. The second gripping structure automaticallyreduces from the steady state speed to a second reduced speed and thefirst gripping structure automatically reduces from the steady statespeed to a first reduced speed. While the assembled pipe is slowed withthe joint adjacent the decoupler, the decoupler automatically actuatesto release a locking part of the joint. After the locking part isreleased, the second gripping structure automatically increases to thesteady state speed to withdraw a leading pipe section of the assembledpipe from the joint. After the leading pipe section is withdrawn fromthe joint, the decoupling device releases the assembled pipe and thefirst gripping structure increases to the steady state speed to advancethe assembled pipe along the travel axis.

In one example, the second reduced speed of the second grippingstructure can be slower than the first reduced speed of the firstgripping structure to alleviate a load at the locking part and thejoint.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings provided herewith illustrate one or more examples orembodiments of the disclosure and therefore should not be considered aslimiting the scope of the disclosure. There may be other examples andembodiments that may be equally effective to achieve the objectives andthat may fall within the scope of the disclosure. Objects, features, andadvantages of the present invention will become apparent upon readingthe following description in conjunction with the drawing figures, inwhich:

FIG. 1 shows a partly exploded view of the components of one example ofan existing irrigation system for irrigating fields of a farm.

FIG. 2 shows a perspective view of a prior art pipe retrieval machine.

FIG. 3 shows a side perspective view of a decoupling region of the piperetrieval machine of FIG. 2.

FIG. 4 shows a top view of a decoupling region of the pipe retrievalmachine of FIG. 2.

FIG. 5 shows a perspective view of one example of a pipe retrievalmachine according to the teachings of the present disclosure.

FIG. 6 shows an enlarged view of a decoupling region and device of thepipe retrieval machine of FIG. 5.

FIGS. 7A-7E show a progression of the decoupling device in thedecoupling region of the pipe retrieval machine of FIG. 6.

FIG. 7F shows a diagram of relative speed over time for the progressionof the decoupling device of FIGS. 7A-7E.

FIGS. 8A and 8B show the decoupling device in one orientation and in areversed orientation, respectively, within the decoupling region of thepipe retrieval machine of FIG. 5.

FIG. 9 shows a perspective view of one example of a pipe retrievalmachine according to the teachings of the present disclosure

FIGS. 10A and 10B show two examples, respectively, of alignment tools orfeatures of the pipe retrieval machine of FIG. 9 according to theteachings of the present disclosure.

FIG. 11 shows a top perspective view of one example of a transportingmechanism and decoupling region of the pipe retrieval machine of FIG. 9.

FIG. 12 shows an end view of the pipe retrieval machine of FIG. 9.

FIG. 13 shows an enlarged portion of the transporting mechanism of thepipe retrieval machine of FIGS. 9 and 11.

FIG. 14 shows a top view of the decoupling region of the pipe retrievalmachine of FIGS. 9 and 11.

FIGS. 15 and 16 show enlarged views of one example of a decoupler for adecoupling device of the pipe retrieval machine of FIG. 9.

FIG. 17 shows one example of a microswitch actuator of the piperetrieval machine shown in FIG. 9.

FIG. 18 shows a side view of the pipe retrieval machine of FIG. 9.

FIG. 19 shows one example of a control panel or control box foroperating the pipe retrieval machine of FIG. 9.

FIG. 20 shows a flow chart of one example of the progression of thedecoupling device in the decoupling region of the pipe retrieval machineof FIGS. 9, 11, and 14-16.

FIG. 21 shows a perspective view of one example of a pipe retrievalmachine according to the teachings of the present disclosure.

FIG. 22 shows an enlarged view of one end of the pipe retrieval machineof FIG. 21.

FIG. 23 shows an enlarged view of one example of a decoupling region ofthe pipe retrieval machine of FIG. 21.

FIGS. 24A-24C show side views of one example of a vegetation remover ofthe pipe retrieval machine of FIG. 21 and with the vegetation remover indifferent positions, respectively.

FIG. 25 shows a bottom perspective view of one example of vegetationremoval brushes of the pipe retrieval machine of FIG. 21.

FIG. 26 shows a perspective view of one example of a vegetation removalbrush of the pipe retrieval machine of FIG. 21 and including details ofthe brush.

FIG. 27 shows a perspective view of one example of a decoupling deviceof the pipe retrieval machine of FIG. 21.

FIG. 28 shows a partial bottom perspective view of one example of acarriage of the decoupling device of FIG. 27.

FIG. 29 shows a perspective view of one example of a decoupler of thedecoupling device of FIG. 27.

The use of the same reference numbers or characters throughout thedescription and drawings indicates similar or identical components,aspects, and features of the disclosure.

DETAILED DESCRIPTION OF THE DISCLOSURE

The disclosed pipe retrieval apparatuses, systems, and methods forwithdrawing and disassembling pipe of an assembled irrigation systemsolve or improve upon one or more of the above mentioned and/or otherproblems and disadvantages of prior known pipe retrieval apparatuses,systems, and methods. The disclosed apparatuses can be deployed on siteto automatically withdraw and at least partly disassemble portions of anassembled irrigation system while in the field. The disclosedapparatuses can thus be utilized to reduce the number of farm laborersthat are currently needed to manually disassemble and remove or relocatethe portion of the system piece by piece. In one example, the irrigationsystem portion is an assembled lateral pipe of the irrigation system.The disclosed systems and methods include use of an apparatus that canwithdraw assembled pipe of the assembled irrigation system from a fieldto the apparatus. The disclosed systems and methods include use of anapparatus that can separate each pipe section from the assembled lengthof pipe. These and other objects, features, and advantages of thedisclosed systems, methods, and apparatuses will become apparent tothose having ordinary skill in the art upon reading this disclosure.

Turning now to the drawings, one example of an irrigation system 20 isdepicted in simplified form in FIG. 1. In this example, the irrigationsystem 20 includes a main line or main pipe 22 that is typicallyconnected to a water source. The main line 22 has a plurality of mainpipe sections or segments 24 that are interconnected to one another atmain pipe joints by various main connectors 26, fittings, and the like.The main line 22 also has one or more valves 28 provided strategicallyat least at some of the main pipe joints. The valves 28 are connected todistribution pipes 30 for distributing water to dispensing portions ofthe irrigation system 20. The main line 22 may be installed on a farmeither above ground or below ground level and the installation may beeither temporary or permanent. The valves 28 and distribution pipes 30are typically disposed above ground level for ready access by the farmpersonnel.

The irrigation system 20 also typically has a plurality of lengthylateral pipes 32 that are connected to or teed off from the distributionpipes 30. The lateral pipes 32 are typically formed of a series oflateral pipe sections 34 that are connected to one another by couplings36 at the lateral pipe joints. The couplings 36 of the lateral pipes 32each include a vertical pipe or riser 38 extending upward from thecoupling. Each riser 38 includes a sprinkler or sprinkler head 40 at ornear a top of the riser. The free end of the distal most pipe section 34of a full assembled lateral pipe 32 is typically closed off by an endcap 42. Water is distributed from the main line 22 through the valves 26to the distribution pipes 30. The distribution pipes 30 deliver thewater to the lateral pipes 32. The water is then delivered along thelateral pipes 32 to the sprinkler heads 40 via the risers 38 andcouplings 36 and dispersed to the field. The valves 28 can be operatedmanually or automatically, such as wirelessly, to be opened or closed toselectively deliver water to desired ones of the lateral pipes 32 duringuse.

Though shown with only one lateral pipe section 34 in FIG. 1, eachassembled lateral pipe 32 can be formed of dozens or a hundred or morediscrete pipe sections 34. During use and when deployed in a field, thelateral pipes 32 are generally linear and extend to hundreds orthousands of feet in length. However, the lateral pipes 32 may not beentirely straight when deployed in a field and may instead follow anyslight or gradual, gentle curves that may be imparted by the terrain ofthe field to the crop rows and furrows. In one example, the irrigationsystem 20 may include multiple lateral pipes 32 deployed in the field ina generally linear and parallel arrangement. As is known in the art, theassembled irrigation system 20 may be positioned in a field, with orwithout furrows between crop rows. In an example, the lateral pipes 32of the assembled irrigation system 20 can extend in a furrow directionand can be configured to irrigate surrounding rows of crops of the farm.The crops do not have to be growing for the disclosed examples orembodiments to be of use, since seeds are often irrigated beforegermination.

In the disclosed example, the pipes and pipe sections and segments ofthe irrigation system, as well as the various connectors, fittings, andcouplings, or parts thereof, can be resin based, i.e., formed ofplastic. Thus, these components can be capable of bending, withinlimits, allowing for the components to be pulled or withdrawn from afield as described herein without having to partially or completelydisassemble the various portions of the irrigation system until eachpipe section of the assembled pipe reaches the apparatus.

The term “assembled”, as used herein for the irrigation system 20, canbe defined as substantially fully assembled and ready to irrigate afarm, whether pressurized with water or not. The term “assembled”, asused herein for the lateral pipes 32, can be defined as substantiallyfully assembled from the end cap 42 at the free capped end to the endadjacent to the distribution pipe 30, whether connected to thedistribution pipe or not. However, when a lateral pipe 32 is to bewithdrawn from the field for disassembly, the lateral pipe should bedisconnected from the distribution pipe 30 at the current location andthen withdrawn and disassembled. The lateral pipe 32 can then bereassembled and reconnected to the same part of the irrigation systemduring a next growing season or can be reconnected to another part ofthe irrigation system 20 or a different system altogether, in a newfield.

In some instances, the assembled pipes may not have a separate coupling.Instead, each of the pipe sections may have a bell portion at one endfor receiving the other end of another pipe section therein. Theconnection is referred to herein as a pipe joint or joint, instead of acoupling. The joint is secured using a flexible locking part, such as aring that seats in internal grooves of the two pipe sections. Thecouplings noted above can be secured using the identical type of lockingpart or ring, as is known in the art. A riser may be utilized on suchpipe joints where no separate coupling is deployed. The riser can beconnected to the bell portion of each of the pipe sections.

FIGS. 2-4 illustrate several views of an existing A.I.M. machine 50. Themachine 50 generally has a support structure or frame 52 that carries atransporting mechanism 54 for moving pipe through the machine. Themachine 50 also generally has a drive system 56 that operates or drivesthe transporting mechanism 54. The machine 50 also generally has a userinterface or a control panel 58 that is used to operate the drive system56.

The transporting mechanism 54 has two or more gripping structures forgripping and moving a pipe. For example, the transporting mechanism 54has two sets, i.e., first and second sets 60A and 60B of opposed upperwheels 62A and 62B, and each set includes two pairs of the opposedwheels 62A and 62B, respectively. Each of the first and second sets 60Aand 60B of the transporting mechanism 54 also includes two supportwheels 63A and 63B, respectively, positioned below the correspondingupper wheels 62A and 62B. Thus, each set 60A and 60B has two groups ofwheels, and each group includes two of the opposed upper wheels 62A or62B and one of the support wheels 63A or 63B, respectively. The upperwheels 62A and 62B can be tilted slightly downward relative to oneanother toward the middle of the machine 50 so that the force applied bythe two upper wheels has a downward component or vector. Thus, the threewheels 62A and 63A or 62B and 63B in each group create a pressure zonethat captures and grips the lateral pipe 32 between the wheels of eachgroup and inhibits the pipe from popping up above the upper wheelsduring operation.

A decoupling region 64 is disposed between the two sets 60A and 60B ofwheels of the transporting mechanism 54. The drive system 56 includes aplurality of motors 66 coupled to the wheels 62A, 62B, 63A, and 63B fordriving rotation of the wheels. Each wheel can have its own dedicatedmotor 66. The machine 50 also has two of the control panels 58, one foroperating each of the two sets 60A and 60B of the opposed wheels 62A,62B and 63A, 63B independently. Each control panel 58 can include one ormore levers, switches, buttons, and/or the like. Each control panel 58is used to run, speed up, slow down, or stop rotation of the wheels ofthe corresponding set 60A or 60B.

During operation of the machine 50, one of the two sets 60A or 60B ofwheels is operated to define an inlet or intake side of the transportingmechanism 54 and the other of the two sets is an outlet or ejection sideof the transporting mechanism. In this example, the wheels 62A and 63Aof the first set 60A define the intake side and the wheels 62B and 63Bof the second set 60B define the ejection side. The wheels 62A and 63Aof the first set 60A and the wheels 62B and 63B of the second set 60Bare operated so that the wheels rotate in a direction to pull a lateralpipe 32 into the machine 50 in the direction of the arrow P in FIG. 1.The transporting mechanism 54 is controlled using the control panels 58to pull the lateral pipe 32 into the machine 50 and then to stop thelateral pipe each time a joint, i.e., a coupling 36 (as used in this andthe other disclosed examples herein) is positioned in the decouplingregion 64. A laborer then typically removes the locking part (not shown)from the leading end of the coupling 36 to release the leading pipesection 34A from the coupling. The second set 60B of the wheels 62B and63B are then operated to pull the leading pipe section 34A in thedirection P, separating the pipe section from the coupling 36. Theseparated pipe section 34A is then ejected from the machine by thesecond set 60B of the wheels 62 and is typically manually loaded onto atruck or trailer by the farm laborers.

If desired, the farm laborer can also remove the locking part (notshown) from the trailing end of the coupling 36 that is still in thedecoupling region 64 and attached to a trailing pipe section 34B of thelateral pipe 32. The laborer can then manually detach the coupling 36and drop the coupling into a container below the decoupling region 64 orto the side of the machine 50. The first and second sets 60A and 60B ofwheels are then operated to pull the lateral pipe 32 further into themachine 50 until a next sequential coupling 36 is positioned in thedecoupling region 64. The process is repeated until an entire lateralpipe 32 is disassembled.

The disclosed pipe retrieval apparatuses, systems, and methods areprovided to automate and improve aspects of the existing machine 50.FIG. 5 illustrates one example of a pipe retrieval machine 70constructed in accordance with the teachings of the present disclosure.In this example, the machine 70 includes a frame 72 that carries atransporting mechanism 74. The transporting mechanism 74 has first andsecond gripping structures, again in the form of first and second sets76A and 76B of opposed upper wheel pairs 78A and 78B and support wheels80A and 80B. In this example, the wheels are arranged in the same manneras that described above for the existing machine 50. The three wheels78A and 80A or 78B and 80B in each group again create a pressure zonethat captures and grips a lateral pipe 32 between the wheels of eachgroup and inhibits the pipe from popping up above the upper wheelsduring operation. Each gripping structure may only have one set of thewheels instead of two sets, as in this example. Each gripping structuremay instead have three or more sets of wheels as well.

The machine 70 also has a drive system 82 coupled to the transportingmechanism 74 to operate the two sets 76A and 76B of wheels. A decouplingregion 84 is again disposed between the two sets 76A and 76B of thewheels of the transporting mechanism 54. The drive system 82 includes aplurality of motors 86 coupled to the wheels 76A, 76B, 80A, and 80B fordriving rotation of the wheels. Each wheel can have its own dedicatedmotor 86 or, alternatively, a transmission (not shown) may be used toconnect and drive any two or more of the wheels in each set 76A or 76Bby a common motor. However, the first set 76A of wheels and the secondset 76B of wheels are independent of one another.

The machine 70 also has two control panels 88 in this example, one foroperating each of the two sets 76A and 76B of the opposed wheels 78A,78B and 80A, 80B independently. Each control panel 88 can include one ormore levers, switches, buttons, and/or the like. Each control panel 88may be used to run, speed up, slow down, or stop rotation of the wheelsof the corresponding set 76A or 76B.

In this example, the machine 70 includes several improvements over theexisting machine 50. As shown in FIG. 5, the machine 70 can includeguide rails 90 positioned at each end of the frame 72. The machine 70can be operated in either direction so that either set 76A or 76B ofwheels can define the intake side or the ejection side of the machineduring use. The guide rails 90 can thus be positioned on the frame 72 toprovide a guide function upstream of the first group of wheels at theinlet or intake side of the machine 70. The guide rails 90 function toproperly orient the couplings 36 of the lateral pipe 32 as the pipe ispulled into the machine 70.

More specifically, during use, the couplings 36 may twist or rotate outof a vertical orientation during use of the irrigation system 20 or atleast when the lateral pipe 32 is being retrieved. If a coupling 36 istwisted or rotated from vertical, then the riser 38 extending from thecoupling 36 is also rotated from vertical. When the lateral pipe 32 isbeing retrieved, a riser 38 that is tilted out of vertical may cause themachine 70 to fail or to break the riser. The guide rails 90 areintended to prevent or inhibit these problems and to reorient thecoupling 36, and thus the riser 38, prior to encountering the firstgroup of three wheels at the inlet or intake side of the machine.

As shown in FIG. 5, each of the guide rails 90 in one example has a pairof spaced apart rail parts 92. Each rail part 92 has a generallyupstanding rail section 94 and a generally horizontal rail section 96connected to one another. The lower ends of the upstanding rail sections94 are mounted to a portion of the frame 72 in this example. Theupstanding rail sections 94 are tilted toward one another from theirrespective lower ends to their upper ends. Thus, the lower ends of theupstanding rail sections 94 are spaced relatively far apart from oneanother and the upper ends of the upstanding rail sections are spacedcloser together than the lower ends. The upstanding rail sections 94also are tilted at an angle toward the transporting mechanism 74 fromthe lower ends to the upper ends. The horizontal rail sections 96 extendfrom the upper ends of the respective upstanding rail sections 94 towardthe decoupling region 84 of the machine 70. The horizontal rail sections96 of each guide rail 90 in this example, maintain a consistent gap orspacing. The horizontal rail sections 96 in this example also terminateshort of the decoupling region 84 and are supported by portions of theframe 72.

During use, as a lateral pipe 32 is retrieved, a coupling 36 may betilted or rotated such that the riser 38 extending up from the couplingis also tilted to one side or the other. The tilted riser 38 willcontact one of the upstanding rail sections 94 as the lateral pipe 32and the coupling 36 are pulled into the machine 70. The forward tilt ofthe contacted upstanding rail section 94 will alleviate abrupt and hardcontact with the riser. The inward tilt will redirect the riser backtoward the vertical orientation as the coupling 36 and riser 38 movetoward the decoupling region 84. The riser will be funneled between thetwo horizontal rail sections 96 to maintain the relative verticalorientation of the riser 38, and thus the coupling 36. This can beimportant to another of the disclosed improvements found in the machine70, as discussed below.

FIG. 6 shows the decoupling region 84 of the machine 70, which includesone example of an in line automated decoupling device 100 and system. Inthis example, the decoupling device 100 has a carriage 102 that can moveback and forth along a lengthwise axis, i.e., the pipe axis of themachine 70 within the decoupling region 84.

The carriage 102 can be slidably mounted on a fixed plate 104 or supportthat is secured within the decoupling region 84. The plate 104 can haveone or more tracks 106, wires, grooves, or other type of linear guidesthat engage corresponding sliders 108, gliders, rollers, wheels, orother type of mating linear guide. In this example, the plate has twotracks 106 and the carriage has two corresponding sliders 108 that canslide along the tracks.

Referring to FIGS. 6 and 7A, the trailing or downstream end of thecarriage 102 can have a gate 110 or forward stop that projects up from asurface of the carriage. The gate 110 is configured and arranged toengage a leading end of a coupling 36 on the lateral pipe 32 as itpasses through the decoupling region 84, as discussed below. Thecarriage 102 can also have a stop block 112 disposed at the upstream orleading end of the carriage. The stop block 112 is configured andarranged to engage a trailing end of the coupling 36 as it passesthrough the decoupling region 84, also as discussed below.

In one example, the gate 110 can include a pair of movable barriers 114or stops slidably mounted on the carriage 102. The barriers 114 in thisexample can move toward and away from one another laterally orperpendicular to the axis of the machine 70. The barriers 114 can bebiased by a spring (not shown) or other biasing element toward oneanother to a closed or stop position. In the stop position, a gapbetween the barriers 114 matches the width of a pipe section 34 but thatis less than a width of the body of a coupling 36. The movable barriers114 in this example include bosses 115 that protrude down through slotsS in the carriage 102 toward the plate 104. In this example, the plate104 includes a wedge 116 with an angled cam surface 118 on each sideconfigured and arranged to contact the respective bosses 115 of themovable barriers, as discussed below.

In one example, the stop block 112 is fixed to the carriage 102 and canhave a ramp 118 on the upstream or intake side and can have a verticalstop surface 120 on the downstream side. The ramp 118 is angled to allowthe lateral pipe 32 and couplings 36 to ride up the ramp and over thestop block 112. Once the coupling 36 clears the stop block, the couplingwill fall in front of the stop block and the trailing end of thecoupling 36 will contact the stop surface 120. This prevents thecoupling 36 from reversing direction opposite the arrow P and holds thecoupling in place on the carriage 102.

In this example, as shown in FIGS. 6 and 7A, the carriage 102 also hasan automated decoupler 122 offset to one side of the carriage 102 thatcan be actuated by movement of one or more parts of the decouplingdevice 100. The decoupler 122 includes a hydraulic actuator 124 mountedto a bracket 126 on the carriage 102. The hydraulic actuator 124 has arod 128 arranged to extend toward the lateral pipe 32 in the decouplingregion 84. The decoupler 122 also includes a lever 130 that protrudes upfrom the carriage 102. The free end of the actuator rod 128 contacts thelever 130, which is pivotable about its lower end. A lock actuator 132extends from the upper free end of the lever 130 toward the lateral pipelocation in the decoupling region 84. The lever 130 may be biased by aspring (not shown) such as a torsion spring or other biasing elementtoward the bracket 126 and actuator rod. The lock actuator 132 is in theform of a finer or arm and is pivotable relative to the lever 130. Thelock actuator 132 may be biased a spring (not shown) to a first positionthat is angle upward relative to a horizontal reference. The lockactuator 132 may pivot upward from the first position to accommodate theshape of the lateral pipe 32 and coupling 36, as discussed below.

The hydraulic actuator 124 can be operable or actuated systematically inresponse to movements of the lateral pipe 32, parts of the decouplingdevice 100, or both, as discussed below. The rod 128, when actuated,pushes the lever 130 toward the lateral pipe 32 and coupling 36. Thelock actuator 132 then contacts the coupling 36 and rides against asurface of the coupling. The lock actuator 132 can then pivot, asneeded, relative to the lever 130 to stay in contact with the curvedsurface of the coupling 36 as the lever moves. The lock actuator 132 isangled upward relative to vertical so that it will rise after contactingthe round or curved surface of the coupling 36, allowing the lever 130to move toward the coupling.

FIGS. 7A-7F show the sequence of operation of the decoupling device 100in his example. As shown in FIG. 7A, a lateral pipe 32 is in the processof being retrieved by and through the machine 70. The lateral pipe 32 ismoved or pulled in the direction P by the transporting mechanism 74,which includes the inlet and outlet sides, i.e., the first and secondsets 76A and 76B of wheels, of the machine 70. In this steady state ofoperation, the inlet and outlet sides of the transporting mechanism 74,i.e., the first and second sets 76A and 76B of the wheels, aresynchronized to operate at the same speed. The steady state operatingspeed can be characterized as 100% speed, though the actual speed at100% can vary according to the needs of a given machine and irrigationsystem. See Stage 1 in the speed chart of FIG. 7F, which represents thissteady state condition.

When a coupling 36 is aligned with the carriage 102, it is capturedbetween the stop bock 112 and the gate 110. As shown in FIG. 7B, whenthe coupling 36 is captured, limit switches (not shown) or other suchdevices may be activated. See Stage 2 in the speed chart of FIG. 7F.This activation reduces the inlet or infeed speed of the first set 76Aof wheels, i.e., the inlet side of the transporting mechanism 74, suchas to about 25% of the steady state speed. See Stage 3 of the speedchart in FIG. 7F. At the same time, this activation also reduces theoutlet or outfeed speed of the second set 76A of wheels, i.e., theejection or outlet side of the transporting mechanism 74, to a stop orto a slower speed of about 10% of the steady state speed. The speedreduction can be imparted to the drive system 82 using electronic flowcontrol valves (not shown) or other such devices. The slower speed ofthe transporting mechanism 74, i.e., the second set 76B of wheels, atthe outlet side of the machine 70 imparts a momentary compression forcebetween the leading pipe segment 34 and the coupling 36.

The momentary compression alleviates tension in the joint between theleading pipe section 34A and the leading end of the coupling 36. Thisalleviates pressure against a locking part 134 in the joint, allowingthe locking part to be manipulated. At the same time, the hydraulicactuator 124 is actuated, driving the rod 128 toward the coupling 36.The rod 128 then pushes the lever 130 toward the coupling 36. The lockactuator 132 contacts the surface of the coupling 36, is aligned with arelease tab (not shown) on the locking part 134, rides along thecoupling surface, and contacts the release tab. As the lock actuator 132pushes the release tab of the locking part 134, the locking part expands(not shown) within the coupling 36, which releases the leading pipesection 34A from the leading end of the coupling 36. See Stage 4 of thespeed chart of FIG. 7F.

Once the leading pipe section 34A is released from the coupling 36 inthis manner, the outfeed speed of the transporting mechanism 74 at theoutlet side of the machine, i.e., the second set 76B of wheels, isincreased back to 100%. This speed increase, as shown in FIG. 7C, causesthe second set 76B of wheels to decouple and withdraw or pull theleading pipe section 34A from the coupling 36. See Stage 5 of the speedchart of FIG. 7F. The leading pipe section 34A is then ejected or fedout of the machine 70 by the second set 76B of wheels to a waiting truckor trailer.

As shown in FIG. 7D, when the force of the leading pipe section 34A isalleviated on the coupling 36, the carriage 102 can move forwardrelative to the plate 104. This movement is driven by the inlet side ofthe transporting mechanism 74, i.e., the first set 76A of wheels, whichis still operating at 25% speed. As the carriage 102 moves forward, thebosses 115 of the movable barriers 114 engage the cam surfaces 118 ofthe wedge 116, which spreads the barriers apart and opens the gate 110.As shown in FIG. 7E, the trailing pipe section 34B and the coupling 36can then be moved forward toward the second set 76B of wheels at theejection side of the machine 70. See Stage 6 of the speed chart of FIG.7F. At the same time, the infeed speed of the inlet side of thetransporting mechanism 74, i.e., the first set 76A of wheels, can beincreased to the steady state 100% speed to match the speed of thesecond set 76B and the trailing pipe section 34A and coupling 36 can bepulled through the machine 70 to become the next sequential leading pipesection. The carriage 102 will then return to a home position, as shownin FIG. 7E, relative to the plate 104. The foregoing decoupling processwill repeat each time the next coupling 36 is captured by the carriage102.

As noted above, the pipe retrieval machine 70 may be operable so thatthe feed or pulling direction P can be in either direction. This meansthat either side of the transporting mechanism 74 can be the infeed orinlet side. In one example, the decoupling device 100 may be reversiblewithin the decoupling region 84 to achieve a direction change in themachine 70. Referring to FIGS. 8A and 8B, the plate 104 of thedecoupling device 100 may be mounted on a rotatable stand or mount 136.The mount 136 can be fixed to a part of the frame 72 of the machine. Inone example, the mount 136 may include a motor (not shown) that rotatesand reverses the decoupling device from one orientation (FIG. 8A) to areverse orientation (FIG. 8B). Alternatively, the mount 136 may bemanually rotatable. In this example, the mount 136 can include a pin138, which locks or secures the decoupling device 100 in the desiredorientation. The pin 138 can be pulled, allowing the decoupling deviceto rotate when changing its orientation. When reversed, the second setof wheels 76B become the inlet or infeed side of the transportingmechanism 74 and the first set of wheels 76A become the outlet oroutfeed side in this example.

The wheels of each set may be adjustable to accommodate different sizedpipes. The wheels may also be replaced with other types of grippingstructures or friction elements that can grip and move a pipe. Differentsizes and different types of wheels may also be used for the grippingstructures of the transporting mechanism.

FIG. 9 shows another example of a pipe retrieval machine 140 constructedin accordance with the teachings of the present disclosure. The piperetrieval machine 140 is substantially similar in function to themachine 70 described above and may again be used to aid in the removaland disassembly of assembled pipe of an irrigation system. However, themachine 140 includes several altered components and systems. In thisexample, a lateral pipe 32 is again pulled through the pipe retrievalmachine 140, sequentially positioning the couplings 36 for disassemblyof the pipe. After separating a coupling 36 and a trailing pipe 34B froma leading pipe section 34A, the leading pipe section 34A is ejected fromthe machine 140 and stored. The coupling 36 and trailing pipe section34B are advanced through the pipe retrieval machine 140, becoming thenext subsequent leading pipe section 34A, for removal or disassemblyfrom the next coupling. The pipe retrieval machine 140 again can includepipe orientation or alignment features or guide rails 142 and 144, atransporting mechanism 146, a drive system 148 for operating thetransporting mechanism, a control system 150, and a user interface orcontrol box 152.

As shown in FIGS. 9, 10A, and 10B, the pipe retrieval machine 140includes two different alignment features or guide rails 142 and 144.The guide rails 142 and 144 in this example can again automaticallyalign a sled or coupling 36 and riser 38 assembly of the pipe 32 withthe riser in the true vertical position or orientation as it enters themachine. The guide rails 142 in this example are frame mounted or fixedguide rails, similar to the above described guide rails 90, and can beprovided at each end of the machine 140. Each of the guide rails 142 inthis example has a pair of rail parts 154 that are laterally spacedapart across the entry to the respective end of the machine 140. Eachrail part 154 has an upstanding rail section 156 and a horizontal railsection 158. The guide rails 142 are mounted to a frame 160 of themachine and can be fixed to the frame or removable from the frame.

The lower ends of the upstanding rail sections 156 are mounted to aportion of the frame 160 in this example. The upstanding rail sections156 are tilted toward one another from their respective lower ends totheir upper ends. Thus, the lower ends of the upstanding rail sections156 are spaced relatively far apart from one another and the upper endsof the upstanding rail sections are spaced closer together than thelower ends. The upstanding rail sections 156 also are tilted at an angletoward the transporting mechanism 146 from the lower ends to the upperends. The horizontal rail sections 158 extend from the upper ends of therespective upstanding rail sections 156, but only a short distancetoward a decoupling region 162 of the machine 140. The horizontal railsections 158 in this example quickly terminate at an entry point intothe transporting mechanism 146, and well short of the decoupling region162.

Each rail part 154 in this example also has a support 164 including avertical post 166 and a horizontal bar 168. The lower end of the post166 is secured to the frame 160 and the upper end of the post is joinedto one end of the bar 168. The post 166 is positioned laterally outwardrelative to the horizontal rail section 158 on the rail part 154. Theother end of the bar 168 is joined to the end of the horizontal railsection 158. Thus, the bar 168 is horizontal but oriented transverselyor laterally to connect the post 166 to the horizontal rail section 158.Each support 164 holds the rail sections 156 and 158 of the respectiverail part 154 in a fixed position at each end of the machine 140.

The guide rails 144 in this example are an independent or portablealignment tool, which can be located in a desired position in front ofthe pipe retrieval machine 140 where the lateral pipe 32 is fed into themachine. The independent guide rails 144 can be placed on the ground infront of the pipe retrieval machine 140 to ensure that the risers 38 215are not horizontal or in a position upon entering the machine 140 thatcould cause damage to the lateral pipe 32, riser 38, coupling 36,transporting mechanism 146, or any of the other components of the piperetrieval machine.

Each of the portable guide rails 144 in this example is reversible andsymmetrical. Each portable guide rail 144 has a pair of rail parts 170that are laterally spaced apart from one another and mounted to a base172 or platform. Each rail part 170 has a pair of upstanding railsections 174 disposed at opposite ends of the base 172. Each rail part170 also has a horizontal rail section 176 extending between the twoupstanding rail sections 174 of the rail part. The rail parts 170 of theguide rails 144 are mounted to the portable base 172. The lower ends ofthe upstanding rail sections 174 of each rail part are tilted toward oneanother from their respective lower ends to their upper ends. Theupstanding rail sections 174 of the two juxtaposed rail parts 170 ateach end of the base 172 are also tilted inward at an angle toward oneanother. Thus, the lower ends of the upstanding rail sections 174 arespaced relatively far apart from one another and the upper ends of theupstanding rail sections are spaced closer together than the lower ends.The horizontal rail sections 176 are spaced apart but are relativelyclose together defining a suitable gap therebetween to reorient therisers 38 passing through the portable guide rails 144.

During use, as a lateral pipe 32 is retrieved, a coupling 36 movingtoward the machine 140 may be tilted or rotated such that the riser 38extending up from the coupling is tilted to one side or the other. Ifthe portable guide rails 144 are used, the tilted riser 38 will contactone of the upstanding rail sections 174 as the lateral pipe 32 and thecoupling 36 are pulled through the portable guide rails 144 toward themachine 140. The forward tilt of the contacted upstanding rail section174 will alleviate abrupt and hard contact with the riser 38 andgradually lift the riser. The inward tilt will help to redirect theriser 38 back toward the vertical orientation as the coupling 36 andriser move toward the machine 140. The horizontal rail sections 176 willhelp to guide the riser along in the vertical orientation. Likewise, asa coupling 36 is about to enter the machine 140, the coupling may betilted or rotated such that the riser 38 extending up from the couplingis still tilted to one side or the other. The tilted riser 38 willcontact one of the upstanding rail sections 156 of one of the fixedguide rails 142 as the lateral pipe 32 and the coupling 36 are pulledinto the machine 140. The forward tilt of the contacted upstanding railsection 156 will alleviate abrupt and hard contact with the riser 38 andlift the riser. The inward tilt will help to redirect the riser 38 backtoward the vertical orientation as the coupling 36 and riser move towardthe machine 140. The riser 38 will be funneled between the twohorizontal rail sections 158 to maintain the relative verticalorientation of the riser 38, and thus the coupling 36 through themachine 140.

FIGS. 11-13 illustrate the transporting mechanism 146 in this example.The transporting mechanism 146 includes first and second belt or treadsystems 180A and 180B, with one system at each end of the machine 140.Each tread system 180A and 180B has a pair of opposed and spaced apartlateral belts 182A or 182B, respectively. Each tread system 180A and180B also has a horizontal support belt 184A or 184B, respectively,disposed below and between the corresponding lateral belts. In thisexample, the belts 182A, 182B, 184A, and 184B operate in a substantiallysimilar manner to the various opposed wheels and support wheels asdescribed above for the machines 50 and 70. The belts 182A and 184A or184A and 184B of each tread system also operate in a similar manner tothe three wheels in each group, as described above, to again create apressure zone that captures and grips a lateral pipe 32 between thebelts of each system 180A and 180B. In this example, the lateral beltsin each tread system are arranged vertically, but could also be angledor tilted slightly inward, similar to the opposed wheels in the earlierdescribed mechanisms to further inhibit the pipe from popping up abovethe lateral belts during operation.

As shown in FIGS. 11-14, each lateral belt 182A or 182B is routed ateach end around a pulley or roller 186 that is supported in a verticalorientation by a bracket 188 mounted to a part of the frame 160. Therollers 186 are each coupled to a vertical shaft 190, i.e., a driveshaft or idler shaft. Though not shown in detail herein, each supportbelt 184A and 184B can be similarly routed around a pair of rollerscarried by brackets that are mounted to the frame 160. These rollers arehorizontally oriented and can be coupled to respective shafts.

The drive system 148 of the machine 140 in this example is again coupledto the transporting mechanism 146 to operate the two tread systems 180Aand 180B. The decoupling region 162 is again disposed between the twotread systems 180A and 180B of the transporting mechanism 146 near themiddle of the machine 140. The drive system 148 can include a pluralityof motors (not shown) coupled to one or more of the shafts 190. At leastone shaft 190, if not both, of one of the pulleys or rollers, if notboth, on each of the lateral and support belts 182A, 182B, 184A, and184B can be driven by a motor for driving rotation of the belts 182A,182B, 184A, and 184B along the pull axis P through the machine 140. Eachbelt of one of the tread systems 180A or 180B can have its own dedicatedmotor or, alternatively, a transmission (not shown) may be used toconnect and drive both belts of a given tread system by a common motor.However, the first tread system 180A and the second tread system 180Bare operable independent of each other.

Depending on the orientation of the pipe retrieval machine 140, one ofthe tread systems is disposed at the inlet or infeed side of the machine140 and the other is disposed at the outlet or outfeed side. In thisexample, the first tread system 180A is identified as the inlet sidesystem and the second tread system is identified as the outlet sidesystem. As a lateral pipe 32 is being drawn in the machine 140, both thefirst tread system 180A and the second tread system 180B can becontrolled to operate at the same 100% speed to pull the pipe into themachine. The separate tread systems allow the first tread system 180A togrip a trailing pipe section 34B of the lateral pipe 32 while the secondtread system 180B pulls the leading pipe section 34A of the pipe. Inthis example, each of the tread systems 180A and 180B of thetransporting mechanism 146 can be operated in both rotation directions.In one example, the tread systems can be reversed to correct formisalignment, i.e., overshoot, of a coupling 36 and riser 38 relative tothe decoupling region 162. In another example, as described furtherbelow, operation of the tread systems 180A and 180B of the transportingmechanism 146 can also be used to pull both the leading pipe section 34Aand the trailing pipe section 34B out of a coupling 36.

In the disclosed example, the vertical lateral belts 182A and 182B andthe horizontal support belts 184A and 184B grip the lateral pipe 32 atthree locations and rotate, i.e., move along the pulling axis P to pullthe pipe. The decoupling region 162 is defined between a lengthwise gap(see FIG. 14) between the first and second tread systems 180A and 180Bso as not to interfere with disassembly of the pipe. In the disclosedexample, each bracket 188 is coupled to the frame 160 of the machine 140on a slide shaft 192. A spring 194 carried on the slide shaft 192 biasesthe bracket 188, and thus the roller 186 and belt 182A or 182B, towardthe axis P and thus toward the lateral pipe 32 passing through themachine. The frame 160 of the machine 140 can include a slot 196adjacent each of the rollers 186 for the corresponding drive or idlershaft 190 to move laterally in concert with the roller 186, as needed.The spring-loaded arrangement of the pulleys or rollers 186 and brackets188 allows the belts 182A and 182B to move with the lateral pipe 32 andcoupling 36 while sufficient pressure or force is continually exerted onthe pipe during the transporting process. The spring-loaded arrangementof the pulleys or rollers 186 also allows the tread systems 180A and180B to readily accommodate pipes of different diameter.

FIGS. 14-16 illustrate one example of a decoupling device 200 for use onthe pipe retrieval machine of FIG. 9. Referring to FIGS. 14 and 15, thedecoupling device 200 includes two hydraulic cylinders 202A and 202Bpositioned across from one another in the decoupling region 162. Each ofthe hydraulic cylinders 202A and 202B is essentially identical to theother in this example, so only the cylinder 202A is described hereinwith the understanding that the description applies equally to the othercylinder. Each hydraulic cylinder 202A and 202B is also orientedperpendicular or normal to the transport axis P through the machine 140.The hydraulic cylinders 202A and 202B may be directly opposite oneanother across the decoupling region 162 or may be staggered or offsetalong the axis P relative to one another.

The hydraulic cylinder 202A is mounted to a corresponding supportbracket 204 carried on the respective side of the frame 160. Thehydraulic cylinder 202A has a rod 206 extending from the cylinder towardthe decoupling region 162. A riser stopper 208 is mounted to the freeend of the rod 206. In this example, the riser stopper 208 is a forkhaving two spaced apart prongs 210 defining a notch between them.Confronting surfaces 214 on the prongs 210 define the notch 212 and maybe curved to create a wider opening into the notch to direct or funnel ariser 38 into the notch during use. A lock actuator 216 projects downfrom the riser stopper 208 in the form of a finger or boss. As with theprior examples, the lock actuator 216 is configured and arranged tocontact a release tab 218 on a locking part 132 of a coupling 36.

The hydraulic cylinder 202A and rod 206 are operable to move the riserstopper 208 to engage a riser 38 on a coupler 36 and lateral pipe 32positioned within the decoupling region 162. The hydraulic cylinder 202Ais also operable retract the rod 206 and riser stopper 208 to release ariser 38 and so as not to obstruct the pipe path along the axis P as thenext subsequent coupling 36 and riser 38 are moved into position by thetransporting mechanism 146. The fork shape of the riser stopper 208 mayforms a “V” shape to allow for some positional tolerance when engaging ariser 38 on a coupling 36. The hydraulic cylinder 202A can extend sothat the riser stopper engages riser 38 and aligns and orients the riser38 relative to the notch 212 position. The support bracket 204 may becapable of swiveling, at least within a small angular range, to allowthe hydraulic cylinder 202A to rotate slightly, depending on a locationof the coupling 36 and riser 38. The lock actuator 216, i.e., finger isconfigured to engages the release tab 218 of the locking part 132 whenthe rod 206 of the hydraulic cylinder 202A is extended and engages theriser 38.

FIG. 17 illustrates one example of a microswitch 220 that can beprovided on the pipe retrieval machine 140 according to the teachings ofthe present disclosure. One or more of the microswitches 220 can bemounted at any number of optional locations along the transport patch oraxis P through the machine 140 and on both the inlet and outlet sides ofthe machine. In this example, the microswitch 220 is mounted on one ofthe transvers bars 168 of one of the fixed guide rails 142. Themicroswitch has a switch arm 222 that obstructs the flow path of therisers 38. This location can ensure that the microswitch 220 will betriggered each time a riser 38 passes through the alignment feature orguide rails 142. The microswitch 220 can send a signal that can actuatethe decoupling device 200, including the hydraulic cylinders 202A and202B after a predetermined time delay. The time delay is dependent onthe speed of the transportation mechanism 146, as well as the traveldistance between the microswitch 220 and the decoupling device. The timedelay can be set to an elapsed time allowing for an object, havingtriggered the microswitch 220, to be aligned with the hydraulic cylinder202A and/or 202B. The time delay thus allows a riser 38, aftertriggering the microswitch 220, to travel to the decoupling region 162and be positioned adjacent the riser stopper 208. Other suchmicroswitches or the like can be placed within the pipe retrievalmachine to trigger various functions, such as speed changes among thetransporting mechanism 146 components, staggered operation of the twohydraulic cylinders 202A and 202B, and the like.

For example, the decoupling device 200 in this example has two hydrauliccylinders 202A and 202B and thus two lock actuators 216. As discussedabove, the disclosed pipe retrieval machines can be configured todisassemble a coupling 36 from both a leading pipe section 34A and atrailing pipe section 34B within the decoupling region. In the machine140, the first hydraulic cylinder 202A can be positioned to engage andrelease a locking part 134 at the leading end joint of the coupling 36.The second hydraulic cylinder 202B can be positioned to engage andrelease a locking part 134 at the trailing end joint of the coupling 36.The transporting mechanism 146 can be manipulated so that, oncereleased, both pipe sections 34A and 34B can be withdrawn from thecoupling 36. If and when this complete disassembly occurs, the removedcoupling 36 can drop through an opening in the decoupling region 162(see FIG. 18) to a waiting container. Two microswitches 220 can beprovided along the transport path in the direction P, once for actuatingeach of the hydraulic cylinders. Two microswitches can also be providedon the other side of the machine 140 for the same purpose but when themachine operation is reversed. Alternatively, both hydraulic cylinders202A and 202B can be activated by the same switch, but with differenttime delays.

FIG. 19 shows one generic example of a user interface or control device230 of the pipe retrieval machine 140. In one example, the controldevice 230 can provide the ability to manually operate the transportingmechanism 146 and the drive system 148. The control box can be coupledto the components of the control system 150 as well. The control device230 can be configured to operate the drive system in forward andbackward directions, to stop the drive system at specified locations,and to detach couplings and detach pipe sections simultaneously. Theuser interface or control device 230 can include electronic and/ormanual emergency stop switches, controls to grip/release a pipe,controls to adjust the transporting mechanism speeds and/or pressures,controls to effect locking part release, controls to separate pipesections and couplings, and the like. All user interface and inputfunctions and components can be located on the control device 30. Thecontrol device 230 can likewise be centrally or strategically placed onthe machine 140. The user interface or control device 230 can also beconnected directly or indirectly to the control system 150. The userinterface or control device 230 also can be used to jog differentcomponents of the pipe retrieval machine 140 in case of a malfunction.

Further, sophisticated electronics (not shown), including a userdisplay, a touchscreen, user adjustable machine operation parameters,and the like may also be incorporated. The control device 230 caninclude wireless or wired connection to a computer or network. Thecontrol device 230 can also include a processor and a memory to automatethe various functions of the machine and, if desired, to store datacollected by the machine during operation. The control device 230 can belocated on the machine and can be connected in a wired or wirelessmanner, etc. The control box 230 can receive inputs from sensors on themachine, such as the microswitch, and can control the functioning ofdifferent components, such as the drive system and the lock actuator.The control device 230 includes the control system and an interface.While a number illustrated of inputs 232 may be mechanical, such asjoysticks, switches, and buttons, the interface along with the inputs232 could also be digital. The interface and the control device 230 andinputs 232 can be combined or separate. For example, the control systemcan be mounted to the machine, while the interface can be displayed on aremote device connected by wire or wirelessly.

The control device 230 can include multiple and separate inputs 232 foreach of the transporting and drive systems, including inputs for speed,direction, emergency stop, and the like. The control device 230 canoperate each drive system and transporting mechanism independently. Thecontrol device 230 can operate the decoupling device 200 and can includean emergency stop button or lever among the inputs 232 that can cut thepower to all systems and mechanisms of the pipe retrieval machine 140.

FIG. 20 illustrates one example of a process flow diagram 240 or methodfor control logic of the pipe retrieval machine 140 according to theteachings of the present disclosure. For example, the process depictedin FIG. 20 may be performed or implemented by the control device of FIG.19 and the pipe retrieval machine of FIGS. 9-19. The process may beimplemented by the pipe retrieval machine 140 manually, part manuallyand part automatically, or fully automatically via the control system150 and the control device 230.

In operation 242, the control device 230 and control system 150 operatethe pipe retrieval machine 140 to turn on at least the inlet up infeedside of the transporting mechanism 146, which in this case is the firsttread system 180A. A first end of a first leading pipe section 34A of alateral pipe 32 fed into the transporting mechanism 146. Thetransporting mechanism 146 grips the leading pipe section 34A and beginspull the length of the lateral pipe 32 at a preset speed according tothe control system 150 or using an input 232 of the control device 230.

In operation 244, the control device 230 and control system 150 areoperated to sense a triggering event of the microswitch 220. As thelateral pipe 32 is pulled further into the machine 140, a riser 38connected to a coupling 36 contacts the switch arm 222 of themicroswitch 220 as the riser 38 passes the switch. The riser 38 triggersthe microswitch 220, which indicates that a joint or coupling 36 of thelateral pipe 32 has passed. The trigger signal is sent to the controlsystem 150.

In operation 246, the control device 230 operates the pipe retrievalmachine 140 to start a counter or a time delay to stop or alter thespeed of the tread systems 180A and/or 180B, based on the triggeringevent at the microswitch 220. The counter imparts a delay for the timeduration that the coupling 36 and riser 38 take to become centered inthe decoupling region 162.

In operation 248, the control device operates the pipe retrieval machine140 to stop the first and second tread systems 180A and 180B when thecoupling 36 and riser 38 are centered over an opening in the decouplingregion of the pipe retrieval machine 140. The lateral pipe 32 is thusheld in position with the riser 38 aligned with the riser stopper 208.

In operation 250, the control device 230 operates the pipe retrievalmachine 140 to actuate the hydraulic cylinders 202A and 202B, whichextends the rods 206 and riser stoppers 208 to engage the riser 38. Thecylinders can be operated sequentially, not simultaneously, in thisexample, so as not to interfere with one another. The riser stopper 208of the first hydraulic cylinder 202A can hold the riser 38 in the notch212. The riser stopper 208 of the second hydraulic cylinder 202B canthen hold the riser in the notch 212. The next operation is synchronizedwith the hydraulic cylinder operation.

In operation 252, the control device 600 operates the pipe retrievalmachine 140 to engage the second tread system 180B to advance theleading pipe section away from the coupling 36. This is done while therelease tab 218 of the locking part 134 at the leading end of thecoupling 36 is activated or released by the lock actuator 216 moved bythe first hydraulic cylinder 202A. The first tread system 180A is thenoperated in the opposite direction to pull the trailing pipe section 34Bout of the coupling 36. This is done while the release tab 218 of thelocking part 134 at the trailing end of the coupling 36 is activated orreleased by the lock actuator 216 moved by the second hydraulic cylinder202B. Once the leading and trailing pipe sections 34A and 34B havecleared the coupling 36, the coupling can fall through the opening inthe decoupling region 162. The disassembled coupling 36 can be directedinto a storage area within the frame 160 of the machine 140, into a bin,or into another storage component or container. The trailing pipesection 34B is still connected to another coupling 36 and to theremaining lateral pipe 32 and thus becomes the next subsequent leadingpipe section 34A.

In operation 254, the control device operates the pipe retrieval machine140 to repeat the process for the remaining length of the lateral pipe32 to be disassembled. The disassembled leading pipe section 34A canthen be ejected from the machine 140 to a waiting truck or trailer andthe remaining pipe 32 is advanced, starting the decoupling ordisassembly process over. Once the entire lateral pipe 32 has beendisassembled, the process can be ended.

Although FIG. 20 illustrates an example of a process or method for thecontrol logic 240, various changes and modifications to the process ormethod could be made. For example, while shown as a series ofoperations, various operation could overlap, occur in parallel, occur ina different order, or occur multiple times. Such modifications maydepend on the particular features of a given pipe or a given piperetrieval machine design.

FIG. 21 shows another example of a pipe retrieval machine 260constructed in accordance with the teachings of the present disclosure.The pipe retrieval machine 260 is substantially similar in function tothe machines 70 and 140 described above and may again be used to aid inthe removal and disassembly of assembled pipe of an irrigation system.The machine 260 includes first and second sets 76A and 76B of wheels asthe transporting mechanism 54, which can be identical to the earlierdescribed transporting mechanism 74 of the machine 70. The machine 260again, however, includes several altered components and systems. In thisexample, a lateral pipe 32 is again pulled through the pipe retrievalmachine 260, sequentially positioning the couplings 36 for disassemblyof the pipe. After separating a coupling 36 and a trailing pipe 34B froma leading pipe section 34A, the leading pipe section 34A is ejected fromthe machine 260 and stored. The coupling 36 and trailing pipe section34B are advanced through the pipe retrieval machine 140, becoming thenext subsequent leading pipe section 34A, for removal or disassemblyfrom the next coupling. The pipe retrieval machine 260 again can includepipe orientation or alignment features or guide rails 262 and 264, atransporting mechanism 74, a drive system 76 for operating thetransporting mechanism, a control system 150, and a user interface orcontrol box 152 or one or more control panels 88 to control and operatethe various aspects of the machine.

As shown in FIGS. 21-23, the pipe retrieval machine 260 includes twodifferent alignment features or guide rails 262 and 264. The guide rails262 and 264 in this example can again automatically align a sled orcoupling 36 and riser 38 assembly of the pipe 32 with the riser in thetrue vertical position or orientation as it enters the machine. Theguide rails 262 in this example are frame mounted or fixed guide rails,similar to the above described guide rails 90 and 142 and can beprovided at each end of the machine 260. Each of the guide rails 262 inthis example has a pair of rail parts 266 that are laterally spacedapart across the entry to each end of the machine 260. Each rail part266 has two upstanding rail sections 268, one disposed at each end ofthe machine 260, and one elongate horizontal rail section 270 extendingbetween the two upstanding rail sections. The guide rails 142 aremounted to a frame 272 of the machine 260 and can be fixed to the frameor removable from the frame.

The lower ends of the upstanding rail sections 268 are mounted to aportion of the frame 272 in this example. The upstanding rail sections268 are again tilted forward and inward toward the center of the machine260 and function in the same manner as previously described. Thehorizontal rail section 270 extends the entire length of the machine 260between the two upstanding rail sections 268 in this example. Thehorizontal rail sections 270 of the two rail parts 266 are again spacedapart from one another and thus define an alignment tool or orientationdevice over the length of the machine 260, including through adecoupling region 274, as shown in FIG. 23.

The guide rails 264 in this example are provided on a ramp 276 disposedat each end of the pipe retrieval machine 260. Each ramp has one endconnected to an elevated part of the frame below the entry point to thetransporting mechanism 74 and an opposite end that rests on the ground.The guide rails 264 each include two rail parts 278 and a crossbar 280.The crossbar 280 extends across the free end of the ramp 276 and isconnected at each end to an upstanding rail section 282 of each railpart 278. As with the previous examples, the two upstanding railsections are tilted or angled forward and inward and function in thesame manner as previously described. Each rail part 278 also has ahorizontal or guide rail section 284 extending forward from therespective upstanding rail section 282 and horizontal with the ramp 276.The forward end of each guide rail part 284 is connected to a post 286.Each post has a lower end connected to an edge of the ramp 276 and anupper end connected to the guide rail part 284. Each crossbar 280 andpost 286 holds the rail sections 282 and 284 of the respective railparts 278 in a fixed position on the ramps 276 at each end of themachine 260. The guide rails 274 on the ramps 276 can guide and orient acoupling 36 and riser 38 to vertical as a pipe is first being raised anddirected into the machine 260 or as the pipe is continually pulled intothe machine. However, this may not occur, depending on the size andstiffness of the pipe 32, as can be seen in FIG. 22.

As shown in FIGS. 22-26, the pipe retrieval machine 260 may also includea vegetation removal unit 290 at each entry point to the machine. In oneexample, the vegetation removal unit 290 can include a pair of rotatablebrushes 292 disposed on opposite sides of the pull axis or direction P.Each of the brushes 292 can rotate about its own axis B and can rotatecounter to one another. In other words, the brushes 292 rotate inopposite directions relative to one another. Each brush 292 can berotated by its own independent hydraulic or electric motor 294. Eachbrush 292 can also be mounted to a carrier 296 or plate. The carrier 296can be coupled to the frame 272 of the machine 260 by an adjustablebracket 298, which is attached to the frame 272 and to the carrier 296.The adjustable bracket 298 can allow the carrier 296, and thus thebrushes 292 to rotate relative to the pipe or pull axis P. Each brush292 may also be laterally and/or fore-and-aft adjustable on the carrier296. In one example, the carrier 296 can include an adjustment slot 300for each of the brushes 292 to allow positional adjustment of thebrushes on the carrier. For example, the spacing between the brushes 292may be adjustable to accommodate different pipe sizes or otherconditions relevant to the machine 260, as needed.

As shown in FIGS. 24A-C, the vegetation removal unit 290 is configuredto allow the angle of the brushes 292 relative to the axial orientationof the lateral pipe 32 being fed through the machine 260. In thisexample, the adjustable bracket 298 allow the carrier 296, and thus thebrushes 292 to be pivoted among different angular orientations, as shownin FIGS. 24A-24C, depending on the type of vegetation that might collectaround the couplings 36 and risers 38 as the lateral pipe 32 is pulledfrom a field. As an example, the brushes may be pivotable from aposition generally perpendicular to the ramp 276 (see FIG. 24A) to aposition where the brushes are close to or perpendicular with the pipe32 (see FIG. 24B) and/or to a position where the brushes overlie theframe (see FIG. 24C) for storage.

The configuration details of the brushes 292 can vary considerably,depending on the needs of a particular application. In one example, thebrushes may have bristles 302 extending from a core tube 304, though thebristles may vary in stalk thickness, bristle length, material type, orthe like. In one example, as shown in FIG. 26, the brushes 292 mayinclude wire/poly type bristles, similar to those used on conventionalstreet sweeping vehicles.

The machine 260 can also include another example of a decoupling devicedisposed in the decoupling region 274 of the pipe retrieval machine 260.In this example, FIG. 23 shows the decoupling region 274 of the machine260, which includes one example of an in line automated decouplingdevice 310 and system. In this example, as shown in FIGS. 27 and 28, thedecoupling device 310 has a carriage 312 that can move back and forthalong a lengthwise axis, i.e., the pipe axis of the machine 260 withinthe decoupling region 274. The carriage 312 can be slidably mounted on afixed plate 104 or support that is secured within the decoupling region274. The plate 104 in this example is substantially similar to theearlier described plate of the machine 70.

Referring to FIGS. 27-29, the trailing or downstream end of the carriage312 can have a gate 314 or forward stop that projects up from a surfaceof the carriage. The gate 314 is configured and arranged to engage aleading end of a coupling 36 on the lateral pipe 32 as it passes throughthe decoupling region 274. The carriage 312 in this example does nothave a stop block for inhibiting reverse direction movement of the pipe,nor does it have a wedge to initiate movement of the gate 314. In oneexample, the gate 314 can include a pair of movable barriers 316 orstops rotatably mounted on the carriage 312. The barriers 316 in thisexample can pivot about vertical shafts 318 toward and away from oneanother to impede or obstruct the pipe path through the decouplingregion 274 or to allow a coupling and pipe to pass. Each of the barriers316 can be biased by a torsion spring 320 on each of the shafts 318 orby other biasing elements toward one another to a closed or stopposition. In the stop position, a gap between the barriers 316 matchesthe width of a pipe section 34 but that is less than a width of the bodyof a coupling 36.

As shown in FIG. 28, each of the barriers 316 may also have a releasecable 322 coupled to a release lever 324. The cables 322 can extendthrough a tunnel block 324 on the underside of the carriage 312 toprotect and restrain the cables. Each cable 322 can also have anadjustment screw to fine adjust the cable tension to precisely set whenthe barriers 316 will open during operation of the machine 260. Therelease cables 322 overlap one another between the tunnel blocks 324 andcan be actuated by a mechanical travel limiter, such as a hook (notshown) that grabs onto the exposed portion of the overlapped cables 322.The hook will then apply tension to the cables 322 m, which can releaselatches, allowing the pipe to push the barriers open against the forceof the springs 320. Other types of release mechanisms may be utilized,if desired.

In this example, as shown in FIGS. 27 and 28, the carriage 312 includesprotective side skirt 330 that depend down from each side of thecarriage. The protective side skirt 330 can extend to portions of thefront and back ends of the carriage 312, if desired (see FIG. 27). Theside skirt 330 blocks or inhibits direct contact with the components onthe underside of the carriage and on the plate 104 from objects in thedecoupling region 274 of the machine 260 during operation.

In this example, as shown in FIGS. 27 and 29, the carriage 312 also hasan automated decoupler 332 offset to one side of the carriage. Thedecoupler 332 can be actuated by movement of one or more parts of thedecoupling device 310. The decoupler 332 includes a hydraulic actuator334 mounted to a bracket 336 on the carriage 312. The hydraulic actuator334 has a rod 338 arranged to extend toward the lateral pipe 32 in thedecoupling region 274. The decoupler 332 also includes a lever 340 thatprotrudes up from the carriage 312. The free end of the rod 338 iscoupled to the lever 340, which is pivotable about its lower end about apivot 342. A lock actuator 344 extends from the upper free end of thelever 340 toward the lateral pipe location in the decoupling region 274The lever 340 may be biased by a tension spring 346 or other biasingelement toward the bracket 336. The lock actuator 344 is in the form ofa finger or arm and is pivotable relative to the lever 340. The lockactuator 344 may be biased a tension spring 246 or other biasing elementto a lowered first position as shown in FIG. 29. The lock actuator 344may pivot upward from the first position to accommodate the shape of thelateral pipe 32 and coupling 36, as discussed below.

In this example, the lever 340 may also be rotatable about a verticalaxis. A heavy spring, such as a torsion spring 350, can be providedabout the lever 340, as shown in FIG. 29. The spring 250 can allow thelever to twist in the direction of the pipe movement P, i.e., toward thegate 314, in the event of a misfire. If the lock actuator 344 and lever340 are still extended when a coupling and pipe section are pulledthrough the coupling device 310, the coupling will hit the decoupler332. In order to prevent damage, the spring 350 allows the lever 340 andlock actuator 344 to rotate upon contact to allow the coupler to pass.The spring 350 can then return the decoupler 332 to its normal readyposition without incident. Also, in this example, the lower end of thelever 340 can be rotationally adjustable to extend or retract the lengthof the lever. This will allow the decoupler to accommodate differentsized pipe by changing the approach angle of the lock actuator 344relative to the pipe.

The hydraulic actuator 334 can be operable or actuated systematically inresponse to movements of the lateral pipe 32, parts of the decouplingdevice 310, or both, as discussed below. The rod 338, when actuated,pushes the lever 340 toward the lateral pipe 32 and coupling 36. Thelock actuator 344 then contacts the coupling 36 and rides upward againsta surface of the coupling. The lock actuator 344 can then pivot, asneeded, relative to the lever 340 to stay in contact with the curvedsurface of the coupling 36 as the lever moves. The operation of thedecoupler 332 is substantially similar to that described above withrespect to FIGS. 7A-7F and for the decoupler 122.

A lateral pipe 32 is retrieved by and through the machine 70. Thelateral pipe 32 is moved or pulled in the direction P by thetransporting mechanism. In this steady state of operation, the inlet andoutlet sides of the transporting mechanism are synchronized to operateat the same speed. The steady state operating speed can be characterizedas 100% speed, though the actual speed at 100% can vary according to theneeds of a given machine and irrigation system.

When a coupling 36 is aligned with the carriage 312, it is stopped bythe gate 314 an held by the transporting mechanism. When the coupling 36is captured, limit switches (not shown) or other such devices may beactivated. This activation reduces the inlet or infeed speed of theinlet side of the transporting mechanism, such as to about 25% of thesteady state speed. At the same time, this activation also reduces theoutlet or outfeed speed of the ejection or outlet side of thetransporting mechanism to a stop or to a slower speed of about 10% ofthe steady state speed. The speed reduction can be imparted to the drivesystem using electronic flow control valves (not shown) or other suchdevices. The slower speed of the outlet side of the transportingmechanism imparts a momentary compression force between the leading pipesegment 34A and the coupling 36.

The momentary compression alleviates tension in the joint between theleading pipe section 34A and the leading end of the coupling 36. Thisalleviates pressure against a locking part 134 in the joint, allowingthe locking part to be manipulated. At the same time, the hydraulicactuator 334 is actuated, driving the rod 338 toward the coupling 36.The rod 338 then pushes the lever 340 toward the coupling 36. The lockactuator 344 contacts the surface of the coupling 36, is aligned with arelease tab on the locking part 134, rides along the coupling surface,and contacts the release tab. As the lock actuator 344 pushes therelease tab of the locking part 134, the locking part expands within thecoupling 36, which releases the leading pipe section 34A from theleading end of the coupling 36.

Once the leading pipe section 34A is released from the coupling 36 inthis manner, the outfeed speed of the transporting mechanism 74 at theoutlet side of the machine is increased back to 100%. This speedincrease causes the outlet side of the transporting mechanism todecouple and withdraw or pull the leading pipe section 34A from thecoupling 36. The leading pipe section 34A is then ejected or fed out ofthe machine 260 to a waiting truck or trailer.

When the force of the leading pipe section 34A is alleviated on thecoupling 36, the carriage 312 can move forward relative to the plate104. This movement is driven by the inlet side of the transportingmechanism 74, which is still operating at 25% speed. As the carriage 312moves forward, a portion of the barriers 314 can engage the cam surfaceor other obstruction, which pulls the cables 322 to swing open thebarriers and opens the gate 314. The trailing pipe section 34B and thecoupling 36 can then be moved forward toward the ejection side of themachine 260. At the same time, the infeed speed of the inlet side of thetransporting mechanism can be increased to the steady state 100% speedto match the speed of the outfeed side and the trailing pipe section 34Aand coupling 36 can be pulled through the machine 260 to become the nextsequential leading pipe section. The carriage 312 will then return to ahome position relative to the plate 104. The foregoing decouplingprocess will repeat each time the next coupling 36 is captured by thecarriage 312.

In this example, and in any of the other examples, multiplemicroswitches may be utilized to communicate with the system andcontroller to speed up or slow down portions of the machine at theproper time. The microswitches can, for example, be positioned under thedecoupling device to detect relative movement between the carriage andthe plate. The carriage may be slidable relative to the plate and, atcritical points, the microswitches can signal when the portions of thetransporting system are to be sped up or slowed down. The carriage canbe spring biased to the home position so that, when a pipe section isejected, the carriage automatically returns to the home position.

As noted above, the pipe retrieval machine 260 may be operable so thatthe feed or pulling direction P can be in either direction. This meansthat either side of the transporting mechanism can be the infeed orinlet side. In one example, the decoupling device 310 may be reversiblewithin the decoupling region 274 to achieve a direction change in themachine 260 in the same manner described above for the machine 70. Eachof the machines 70 and 140 may utilize a ramp 360 at each end of theframe. The ramps 360 can aid in feeding the initial free end of alateral pipe 32, which may be quite heavy, into the machine and may alsoassist a laborer in accessing the machine, if needed. The ramps 360 and276 can be pivotable about the frame to move them to a stowed or storageposition, if desired. The ramps may also be detachable for remotestorage.

The above disclose pipe retrieval machines operate on being able todetect the location or presence of a joint or a coupling of the pipe andthen synchronizing the decoupling device and operation accordingly. Inthe disclosed examples, a microswitch may be deployed to detect when ajoint or a coupling passes the switch. The system and apparatus can thembe signaled to begin the decoupling process. Other embodiments, devices,components, and methods may be utilized for detecting the location orpresence of the joint or the coupling between the assembled pipesections. For example, optical switches, contact switches, or varioussensors may be utilized. Further, the sensing may occur upstream of thedecoupling region and device or may occur directly within the region oron or at the device. The disclosure is not intended to be limited toonly the one disclosed example.

The transporting mechanisms of the above-disclosed pipe retrievalmachines can be configured to allow for ready compatibility withdifferent diameter pipes. The transporting mechanism in one example canbe adjustable to work with a range of pipe outer diameter (OD) sizes,such as from three (3) inches to ten (10) inches nominal, including thecouplings. The transporting mechanism can be structured with a retrievalforce able to pull up to one half mile of three (3) inch nominal sizepipe. The transporting mechanism may be supplied with 2,250 PSI ofhydraulic pressure and a minimum of eight (8) gallons per minute ofremote hydraulic flow. The transporting mechanism can be structured witha retrieval speed that can transport a pipe assembly at about 90 feetper minute and with the ability accelerate or decelerate without thepipe slipping to a degree that would stop the process at preciselocations, i.e., such as +/− about one-half inch.

In the disclosed examples, the pipe retrieval machines include atransporting mechanism and a drive system to power the transportingmechanism. The transporting mechanism can be a friction drive. Thefriction drive can apply linear actuation to move the length of pipeforward and backward through the machine. The disclosed pipe retrievalmachines include two such transporting mechanisms, which can beindependently operated and controlled, to independently move sections ofthe pipe at either end of the machine. One or more microswitches can beused to detect when the pipe is ready and correctly positioned and totrigger operation of a decoupling device. Precise delays and synchronousoperation of the parts of the pipe retrieval machines can be flexibleand varied to accommodate a variety of coupling, pipe, and/or bell orspigot assemblies and designs.

The disclosed pipe retrieval machines, systems, and methods include acontrol system that can identify the location of risers and couplings,as well as the joint locking parts, and to actuate a decoupling device.The control system can sync forward and/or reverse movement of a pipe,speeds of the transporting mechanism components, and the like toseparate one or more pipe sections from a coupling. The disclosed piperetrieval machines can include a housing with a storage space, such asfor a bin or cart, to catch and store the disassembled couplings. Thedisclosed pipe retrieval machines can include safety switches andsensors and implement safety protocol, such as by incorporating anemergency shut off feature.

The mobility of the disclosed pipe retrieval machines can be provided bytowing. In one example, the machines can be towed via a category two,3-point hitch designed for use with tractors. External features (piperamps, walk-up ramps, a trailer hitch, and the like) of the piperetrieval machines can be stored on-board in storage locations within oron the frame or can be foldable for ease of transport as a unit.

The disclosed pipe retrieval machines can be powered using a closedcenter remote hydraulic system of a tractor. Such a system can be rated,for example, at about 2250 psi. The disclosed machines can have an inletpressure hose and a return hose to the tractor, both of which may beequipped with male or female quick couplers. In addition, the machinesmay also be provided with an oil case drain hose with a male or femalequick connect coupler. In one example, the electronics of the disclosedmachines can operate on a 12-volt DC supply. The power can be suppliedvia an on-board battery or by a power hook up to a trailer or a tractor.

Embodiments of a pipe retrieval apparatus, system, and method aredisclosed. For example, a pipe retrieval machine may have features thatare refined or added to enhance the operation and performance of themachine. Such refinements or additions can include an improvedtransporting mechanism, an improved drive system, an alignment feature,a vegetation removal device, a locking part engager, an improved userinterface or control panel, and an improved control system operablyconnected to one or more of these other features.

The transporting mechanism grips a lateral pipe. The drive system drivesthe transporting mechanism to move or retrieve the pipe. The alignmentfeature vertically aligns a riser on the pipe. The alignment feature oranother part of the machine can include a microswitch that can trigger adelay based on the riser contacting an arm or trigger of themicroswitch. The lock actuator can actuate a locking part of a pipecoupling to release the joint. The lock actuator can be actuatedelectronically or through a hydraulic cylinder. The user interface orcontrol panel can receive input from a user and provide outputinformation to the user. The control system can be used to operate,control, and/or monitor virtually any aspect of the disclosed piperetrieval machines.

This written description uses examples or embodiments to enable those ofordinary skill in the art to make and use the invention. The patentablescope is defined by the claims. The claim scope may encompass otherexamples that occur to those skilled in the art. Such other examples areintended to be within the scope of the claims if they have structuralelements that do not differ from the literal language of the claims, orif they include equivalent structural elements with insubstantialdifferences from the literal languages of the claims.

Note that not all activities, components, and features described abovein the general description or the examples are required. A portion of aspecific activity, component, or feature may not be required, and thatone or more further activities, components, or features may be performedor included in addition to those described or in different, moreinclusive or less inclusive, combinations. Still further, the order inwhich activities are listed or described are not necessarily the orderin which they are, or need be, performed.

In the foregoing specification, the concepts have been described withreference to specific examples. However, one of ordinary skill in theart appreciates that various modifications and changes can be madewithout departing from the scope of the disclosure as set forth in theclaims below. Accordingly, the written description and drawings are tobe regarded in an illustrative rather than a restrictive sense, and allsuch modifications are intended to be included within the scope ofdisclosure.

It may be advantageous to set forth definitions of certain words andphrases used throughout this patent document. The term “communicate,” aswell as derivatives thereof, encompasses both direct and indirectcommunication. The terms “include” and “comprise,” as well asderivatives thereof, mean inclusion without limitation. The term “or” isinclusive, meaning and/or. The phrase “associated with,” as well asderivatives thereof, may mean to include, be included within,interconnect with, contain, be contained within, connect to or with,couple to or with, be communicable with, cooperate with, interleave,juxtapose, be proximate to, be bound to or with, have, have a propertyof, have a relationship to or with, or the like. The phrase “at leastone of,” when used with a list of items, means that differentcombinations of one or more of the listed items may be used, and onlyone item in the list may be needed. For example, “at least one of: A, B,and C” includes any of the following combinations: A, B, C, A and B, Aand C, B and C, and A and B and C.

Also, the use of “a” or “an” are employed to describe elements andcomponents described herein. This is done merely for convenience and togive a general sense of the scope of the invention. This descriptionshould be read to include one or at least one and the singular alsoincludes the plural unless it is obvious that it is meant otherwise.

The description in the present application should not be read asimplying that any particular element, step, or function is an essentialor critical element that must be included in the claim scope. The scopeof patented subject matter is defined only by the allowed claims.Moreover, none of the claims invokes 35 U.S.C. § 112(f) with respect toany of the appended claims or claim elements unless the exact words“means for” or “step for” are explicitly used in the particular claim,followed by a participle phrase identifying a function. Use of termssuch as (but not limited to) “mechanism,” “module,” “device,” “unit,”“component,” “element,” “member,” “apparatus,” “machine,” “system,”“processor,” or “controller” within a claim is understood and intendedto refer to structures known to those having ordinary skill in therelevant art, as further modified or enhanced by the features of theclaims themselves, and is not intended to invoke 35 U.S.C. § 112(f).

Benefits, other advantages, and solutions to problems have beendescribed above with regard to specific embodiments. However, thebenefits, advantages, solutions to problems, and any feature(s) that maycause any benefit, advantage, or solution to occur or become morepronounced are not to be construed as a critical, required, or essentialfeature of any or all the claims.

Although certain pipe retrieval apparatuses, systems, and methods havebeen described herein in accordance with the teachings of the presentdisclosure, the scope of coverage of this patent is not limited thereto.On the contrary, this patent covers all embodiments of the teachings ofthe disclosure that fairly fall within the scope of permissibleequivalents.

What is claimed is:
 1. A pipe retrieval system comprising: a pipe havinga leading pipe section, a trailing pipe section connected to the leadingpipe section at a joint, and a remaining pipe joined to the trailingpipe section by a next joint; and a pipe retrieval machine, the machineincluding a frame defining a decoupling region and a travel axis; atransporting mechanism supported on the frame and having a firstgripping structure adjacent an infeed end of the machine and a secondgripping structure adjacent an outfeed end of the machine, thedecoupling region disposed between the first and second grippingstructures; a drive system configured to move the first and secondgripping structures at a steady state speed to direct the pipe along thetravel axis; and a decoupling device in the decoupling region and havinga decoupler, the decoupler being operable to engage a locking part ofthe joint, and the decoupling device being configured to engage the pipeto selectively slow portions of the pipe relative to the steady statespeed, wherein the first gripping structure and the second grippingstructure are independently and automatically controllable to changefrom the steady state speed according to a position of the jointrelative to the decoupling device, wherein, when the pipe is engaged bythe decoupling device with the joint adjacent the decoupler, the secondgripping structure is automatically reduced from the steady state speedto a second reduced speed and the first gripping structure isautomatically reduced from the steady state speed to a first reducedspeed, wherein, while the pipe is slowed with the joint adjacent thedecoupler, the decoupler is automatically actuated to release thelocking part, wherein, after the locking part is released, the secondgripping structure is increased to the steady state speed to withdrawthe leading pipe section from the joint, and wherein, after the leadingpipe section is withdrawn from the joint, the pipe is released by thedecoupling device and the first gripping structure is increased to thesteady state speed to advance the pipe along the travel axis.
 2. A piperetrieval system of claim 1, wherein the first reduced speed is fasterthan the second reduced speed.
 3. A pipe retrieval system of claim 1,wherein the joint is a coupling between the leading and trailing pipesection and includes a riser extending up from the coupling, and whereinthe decoupling device acts on the riser to stop the coupling relative tothe decoupling device.
 4. A pipe retrieval system of claim 3, whereinthe first and second gripping structures are operable to aid in slowingthe pipe.
 5. A pipe retrieval system of claim 1, wherein the first andsecond gripping structures are operable to slow the pipe.
 6. A piperetrieval system of claim 1, wherein the decoupling device includes agate that acts upon the joint to stop the pipe relative to thedecoupling device.
 7. A pipe retrieval system of claim 6, wherein thegate includes two movable barriers that obstruct an end of the joint tostop the coupling relative to the decoupling device.
 8. A pipe retrievalsystem of claim 1, wherein the decoupler includes a lock actuator thatis movable into contact with the locking part to release the lockingpart.
 9. A pipe retrieval system of claim 1, wherein the machineincludes a microswitch upstream of the decoupling region, and wherein,when the microswitch is triggered, a time delay occurs before thedecoupling device is automatically operated to slow the pipe with thejoint adjacent the decoupler.
 10. A pipe retrieval system of claim 9,wherein the joint is a coupling disposed between the leading andtrailing pipe sections and includes a riser extending up from thecoupling, and wherein the microswitch is triggered by the riser passingthe microswitch.
 11. A pipe retrieval machine comprising: a framedefining a decoupling region and a travel axis; a transporting mechanismsupported on the frame and having a first gripping structure adjacent aninfeed end of the machine and a second gripping structure adjacent anoutfeed end of the machine, the decoupling region disposed between thefirst and second gripping structures; a drive system configured to movethe first and second gripping structures at a steady state speed todirect a pipe along the travel axis; and a decoupling device in thedecoupling region and having a decoupler, the decoupler beingautomatically operable to engage a locking part of the pipe joint, andthe decoupling device being configured to selectively and automaticallyslow the pipe relative to the steady state speed, wherein the piperetrieval machine is configured, by selectively and independentlyreducing the first and second gripping structures to respective firstand second speeds that are less than the steady state speed, to detachat least one pipe section from the pipe, to move the detached pipesection from the machine, and to advance the remaining pipe fordisassembly.
 12. A pipe retrieval machine of claim 11, furthercomprising: an alignment feature configured to vertically align a riseron a joint of a pipe passing through the pipe retrieval machine.
 13. Apipe retrieval machine of claim 12, wherein the alignment featureincludes a microswitch triggered by a riser passing through thealignment feature and configured to trigger a delay prior to thedecoupling device being automatically operated.
 14. A pipe retrievalmachine of claim 11, further comprising: a user interface configured toreceive inputs from a user and provide outputs to the user; and acontrol system operable to control the drive system to move thetransporting mechanism, wherein the control system is accessible via theuser interface.
 15. A pipe retrieval machine of claim 11, wherein thefirst gripping structure includes at least one group of wheels andwherein the second gripping structure includes at least one group ofwheels, and wherein the groups of wheels are rotatable by the drivesystem.
 16. A pipe retrieval machine of claim 11, wherein the firstgripping structure includes at least one tread system and wherein thesecond gripping structure includes at least one tread system, andwherein the tread systems are movable by the drive system.
 17. A methodof retrieving an assembled pipe and disassembling the assembled pipe,the method comprising the steps of: deploying a pipe retrieval machineadjacent one end of the assembled pipe, the pipe retrieval machinehaving a frame, a transporting mechanism with a first gripping structureadjacent an infeed end of the machine and a second gripping structureadjacent an outfeed end of the machine, a drive system configured tomove the first and second gripping structures at a steady state speed todirect the assembled pipe along the travel axis, and a decoupling devicehaving a decoupler; operating the drive system to move the first andsecond gripping structures in a direction into the pipe retrievalmachine; and feeding the one end of the assembled pipe into the firstgripping structure, whereby the drive system automatically moves thefirst and second gripping structures at a steady state speed to directthe assembled pipe along the travel axis, the decoupling device slowsthe assembled pipe with a joint of the assembled pipe adjacent thedecoupler, the second gripping structure automatically reduces from thesteady state speed to a second reduced speed and the first grippingstructure automatically reduces from the steady state speed to a firstreduced speed, while the assembled pipe is slowed with the jointadjacent the decoupler, the decoupler automatically actuates to releasea locking part of the coupler, after the locking part is released, thesecond gripping structure automatically increases to the steady statespeed to withdraw a leading pipe section of the assembled pipe from thejoint, and after the leading pipe section is withdrawn from the joint,the decoupling device releases the assembled pipe and the first grippingstructure increases to the steady state speed to advance the assembledpipe along the travel axis.
 18. A method of claim 17, wherein the secondreduced speed of the second gripping structure is slower than the firstreduced speed of the first gripping structure to alleviate a load at thelocking part and the joint.